Rant?

This is what happens when you finally leave the man you’ve been with for 6+ years and go on one date. After the physical abuse 3 years in started I don’t know why I didn’t leave. We have 3 kids. He continues to make my life hell everyday. I’m back at my moms because I was a sahm and everything was his. We planned a day out with the kids yesterday and I couldn’t find my bank card, he freaked out on me, calling me stupid for not having it, retarded, fatass, in front of our kids. I was crying, he started recording me, shoving the phone in my face as I was crying and trying to get our kids together. It was just us at the house, everyone was gone and as hard as I tried to push him away it didn’t work. It was humiliating, he said it was for him to have “just in case”. I’m so stuck. I don’t honestly know how I can deal with this for the rest of my life. He refuses to help, but any time I tell him to leave me alone it’s “you’re keeping my kids from me” “I want my kids” “ I can take them from you in a heartbeat”

A little context^ he was supposed to keep our kids overnight, I had plans and he flipped out thinking I was going on a date, he called me so many times and eventually I had to cancel my plans so he could bring them back. How do I deal with this? It’s constant, he won’t help with the kids at all. He won’t buy diapers or wipes or anything because he says “you got it” I’m so stressed. So depressed and have no idea what to do.